{
  "scene_id": "0658da5bc0",
  "dataset": "scannetpp",
  "small_items": [
    {
      "object_id": 57,
      "label": "mouse",
      "centroid": [
        1.2506,
        2.3893,
        0.7522
      ],
      "nearby_objects": [
        {
          "object_id": 48,
          "label": "desk",
          "centroid": [
            1.0708,
            2.5755,
            0.6751
          ],
          "centroid_distance_m": 0.27,
          "spatial_3d": {
            "edge_distance_cm": 0.2,
            "center_distance_cm": 27.0,
            "nearest_point_small": [
              1.2615,
              2.3281,
              0.7417
            ],
            "nearest_point_nearby": [
              1.2622,
              2.3279,
              0.7399
            ],
            "direction_unit_vector": [
              -0.6659,
              0.6893,
              -0.2856
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 7.71,
            "horizontal_distance_cm": 25.88
          }
        },
        {
          "object_id": 62,
          "label": "chair",
          "centroid": [
            1.8558,
            2.6103,
            0.5431
          ],
          "centroid_distance_m": 0.6773,
          "spatial_3d": {
            "edge_distance_cm": 32.06,
            "center_distance_cm": 67.73,
            "nearest_point_small": [
              1.3105,
              2.376,
              0.7358
            ],
            "nearest_point_nearby": [
              1.5965,
              2.4618,
              0.6189
            ],
            "direction_unit_vector": [
              0.8935,
              0.3262,
              -0.3087
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 20.91,
            "horizontal_distance_cm": 64.42
          }
        },
        {
          "object_id": 59,
          "label": "desk lamp",
          "centroid": [
            0.5928,
            2.2531,
            0.8825
          ],
          "centroid_distance_m": 0.6843,
          "spatial_3d": {
            "edge_distance_cm": 53.59,
            "center_distance_cm": 68.43,
            "nearest_point_small": [
              1.1849,
              2.4106,
              0.7353
            ],
            "nearest_point_nearby": [
              0.6649,
              2.281,
              0.7355
            ],
            "direction_unit_vector": [
              -0.9613,
              -0.1992,
              0.1904
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -13.03,
            "horizontal_distance_cm": 67.18
          }
        },
        {
          "object_id": 70,
          "label": "remove",
          "centroid": [
            0.6476,
            2.6992,
            0.8527
          ],
          "centroid_distance_m": 0.6854,
          "spatial_3d": {
            "edge_distance_cm": 61.4,
            "center_distance_cm": 68.54,
            "nearest_point_small": [
              1.1838,
              2.4154,
              0.7375
            ],
            "nearest_point_nearby": [
              0.6507,
              2.6963,
              0.8556
            ],
            "direction_unit_vector": [
              -0.8798,
              0.4521,
              0.1467
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -10.06,
            "horizontal_distance_cm": 67.8
          }
        },
        {
          "object_id": 13,
          "label": "pen stand",
          "centroid": [
            0.6435,
            2.7051,
            0.8141
          ],
          "centroid_distance_m": 0.6872,
          "spatial_3d": {
            "edge_distance_cm": 55.96,
            "center_distance_cm": 68.72,
            "nearest_point_small": [
              1.1838,
              2.4154,
              0.7375
            ],
            "nearest_point_nearby": [
              0.7147,
              2.6941,
              0.8616
            ],
            "direction_unit_vector": [
              -0.8836,
              0.4595,
              0.0902
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -6.2,
            "horizontal_distance_cm": 68.44
          }
        },
        {
          "object_id": 22,
          "label": "jacket",
          "centroid": [
            1.9402,
            2.4989,
            0.7005
          ],
          "centroid_distance_m": 0.7002,
          "spatial_3d": {
            "edge_distance_cm": 63.22,
            "center_distance_cm": 70.02,
            "nearest_point_small": [
              1.311,
              2.3755,
              0.7397
            ],
            "nearest_point_nearby": [
              1.9334,
              2.486,
              0.7324
            ],
            "direction_unit_vector": [
              0.9849,
              0.1565,
              -0.0738
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 5.17,
            "horizontal_distance_cm": 69.83
          }
        },
        {
          "object_id": 28,
          "label": "clothes drying rack",
          "centroid": [
            0.7187,
            2.8647,
            0.6339
          ],
          "centroid_distance_m": 0.7231,
          "spatial_3d": {
            "edge_distance_cm": 55.34,
            "center_distance_cm": 72.31,
            "nearest_point_small": [
              1.2072,
              2.4542,
              0.7465
            ],
            "nearest_point_nearby": [
              0.8402,
              2.8579,
              0.8394
            ],
            "direction_unit_vector": [
              -0.7356,
              0.6573,
              -0.1636
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 11.83,
            "horizontal_distance_cm": 71.34
          }
        },
        {
          "object_id": 52,
          "label": "box",
          "centroid": [
            1.7197,
            2.6002,
            0.2304
          ],
          "centroid_distance_m": 0.7326,
          "spatial_3d": {
            "edge_distance_cm": 43.59,
            "center_distance_cm": 73.26,
            "nearest_point_small": [
              1.3105,
              2.376,
              0.7358
            ],
            "nearest_point_nearby": [
              1.5508,
              2.5494,
              0.4162
            ],
            "direction_unit_vector": [
              0.6402,
              0.2878,
              -0.7122
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 52.18,
            "horizontal_distance_cm": 51.43
          }
        },
        {
          "object_id": 58,
          "label": "monitor",
          "centroid": [
            0.499,
            2.5609,
            1.0097
          ],
          "centroid_distance_m": 0.8128,
          "spatial_3d": {
            "edge_distance_cm": 60.73,
            "center_distance_cm": 81.28,
            "nearest_point_small": [
              1.1838,
              2.4154,
              0.7375
            ],
            "nearest_point_nearby": [
              0.6125,
              2.6216,
              0.7351
            ],
            "direction_unit_vector": [
              -0.9247,
              0.2111,
              0.3168
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -25.75,
            "horizontal_distance_cm": 77.09
          }
        },
        {
          "object_id": 27,
          "label": "rug",
          "centroid": [
            0.8679,
            2.3793,
            0.0342
          ],
          "centroid_distance_m": 0.8137,
          "spatial_3d": {
            "edge_distance_cm": 68.01,
            "center_distance_cm": 81.37,
            "nearest_point_small": [
              1.2338,
              2.4636,
              0.7352
            ],
            "nearest_point_nearby": [
              1.1995,
              2.5246,
              0.0587
            ],
            "direction_unit_vector": [
              -0.4703,
              -0.0123,
              -0.8824
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 71.8,
            "horizontal_distance_cm": 38.28
          }
        },
        {
          "object_id": 51,
          "label": "wheeled chair",
          "centroid": [
            1.0039,
            1.6227,
            0.5834
          ],
          "centroid_distance_m": 0.8229,
          "spatial_3d": {
            "edge_distance_cm": 51.57,
            "center_distance_cm": 82.29,
            "nearest_point_small": [
              1.2549,
              2.3297,
              0.7363
            ],
            "nearest_point_nearby": [
              0.9428,
              1.9436,
              0.5969
            ],
            "direction_unit_vector": [
              -0.2999,
              -0.9317,
              -0.2051
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 16.88,
            "horizontal_distance_cm": 80.54
          }
        },
        {
          "object_id": 23,
          "label": "bowl",
          "centroid": [
            1.5408,
            2.8492,
            1.4609
          ],
          "centroid_distance_m": 0.8933,
          "spatial_3d": {
            "edge_distance_cm": 79.96,
            "center_distance_cm": 89.33,
            "nearest_point_small": [
              1.2456,
              2.4307,
              0.7621
            ],
            "nearest_point_nearby": [
              1.4629,
              2.8373,
              1.4155
            ],
            "direction_unit_vector": [
              0.3249,
              0.5148,
              0.7934
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -70.88,
            "horizontal_distance_cm": 54.38
          }
        },
        {
          "object_id": 12,
          "label": "shelf",
          "centroid": [
            1.6161,
            2.9109,
            1.4072
          ],
          "centroid_distance_m": 0.9136,
          "spatial_3d": {
            "edge_distance_cm": 64.97,
            "center_distance_cm": 91.36,
            "nearest_point_small": [
              1.2246,
              2.4336,
              0.765
            ],
            "nearest_point_nearby": [
              1.1858,
              2.591,
              1.3942
            ],
            "direction_unit_vector": [
              0.4001,
              0.5708,
              0.717
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -65.5,
            "horizontal_distance_cm": 63.68
          }
        }
      ]
    },
    {
      "object_id": 46,
      "label": "backpack",
      "centroid": [
        2.2999,
        3.0096,
        0.2641
      ],
      "nearby_objects": [
        {
          "object_id": 74,
          "label": "bag",
          "centroid": [
            2.8046,
            2.9153,
            0.1766
          ],
          "centroid_distance_m": 0.5208,
          "spatial_3d": {
            "edge_distance_cm": 21.96,
            "center_distance_cm": 52.08,
            "nearest_point_small": [
              2.4573,
              2.9976,
              0.1311
            ],
            "nearest_point_nearby": [
              2.6755,
              3.0204,
              0.1399
            ],
            "direction_unit_vector": [
              0.969,
              -0.181,
              -0.1679
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 8.74,
            "horizontal_distance_cm": 51.35
          }
        },
        {
          "object_id": 31,
          "label": "nightstand",
          "centroid": [
            2.8571,
            3.0278,
            0.3642
          ],
          "centroid_distance_m": 0.5664,
          "spatial_3d": {
            "edge_distance_cm": 18.7,
            "center_distance_cm": 56.64,
            "nearest_point_small": [
              2.4558,
              3.0114,
              0.0998
            ],
            "nearest_point_nearby": [
              2.6387,
              3.0499,
              0.0928
            ],
            "direction_unit_vector": [
              0.9837,
              0.0321,
              0.1768
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -10.01,
            "horizontal_distance_cm": 55.75
          }
        },
        {
          "object_id": 62,
          "label": "chair",
          "centroid": [
            1.8558,
            2.6103,
            0.5431
          ],
          "centroid_distance_m": 0.6592,
          "spatial_3d": {
            "edge_distance_cm": 16.54,
            "center_distance_cm": 65.92,
            "nearest_point_small": [
              2.0571,
              2.967,
              0.0358
            ],
            "nearest_point_nearby": [
              1.8957,
              2.9309,
              0.0415
            ],
            "direction_unit_vector": [
              -0.6737,
              -0.6059,
              0.4232
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -27.9,
            "horizontal_distance_cm": 59.73
          }
        },
        {
          "object_id": 52,
          "label": "box",
          "centroid": [
            1.7197,
            2.6002,
            0.2304
          ],
          "centroid_distance_m": 0.7109,
          "spatial_3d": {
            "edge_distance_cm": 21.47,
            "center_distance_cm": 71.09,
            "nearest_point_small": [
              2.06,
              2.9594,
              0.0222
            ],
            "nearest_point_nearby": [
              1.8661,
              2.8673,
              0.0281
            ],
            "direction_unit_vector": [
              -0.8161,
              -0.5759,
              -0.0474
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 3.37,
            "horizontal_distance_cm": 71.01
          }
        },
        {
          "object_id": 45,
          "label": "dustbin",
          "centroid": [
            3.0424,
            2.9491,
            0.1688
          ],
          "centroid_distance_m": 0.7511,
          "spatial_3d": {
            "edge_distance_cm": 46.05,
            "center_distance_cm": 75.11,
            "nearest_point_small": [
              2.4573,
              2.9976,
              0.1311
            ],
            "nearest_point_nearby": [
              2.9105,
              2.9862,
              0.2118
            ],
            "direction_unit_vector": [
              0.9886,
              -0.0806,
              -0.1268
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 9.53,
            "horizontal_distance_cm": 74.5
          }
        },
        {
          "object_id": 22,
          "label": "jacket",
          "centroid": [
            1.9402,
            2.4989,
            0.7005
          ],
          "centroid_distance_m": 0.762,
          "spatial_3d": {
            "edge_distance_cm": 59.49,
            "center_distance_cm": 76.2,
            "nearest_point_small": [
              2.1718,
              2.9329,
              0.3049
            ],
            "nearest_point_nearby": [
              1.9354,
              2.5038,
              0.6424
            ],
            "direction_unit_vector": [
              -0.472,
              -0.6702,
              0.5728
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -43.64,
            "horizontal_distance_cm": 62.46
          }
        },
        {
          "object_id": 14,
          "label": "book",
          "centroid": [
            3.03,
            3.1873,
            0.5151
          ],
          "centroid_distance_m": 0.7922,
          "spatial_3d": {
            "edge_distance_cm": 58.23,
            "center_distance_cm": 79.22,
            "nearest_point_small": [
              2.3907,
              3.0699,
              0.3537
            ],
            "nearest_point_nearby": [
              2.9372,
              3.1963,
              0.51
            ],
            "direction_unit_vector": [
              0.9216,
              0.2242,
              0.3168
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -25.1,
            "horizontal_distance_cm": 75.14
          }
        },
        {
          "object_id": 71,
          "label": "remove",
          "centroid": [
            3.0577,
            3.078,
            0.5305
          ],
          "centroid_distance_m": 0.8062,
          "spatial_3d": {
            "edge_distance_cm": 63.47,
            "center_distance_cm": 80.62,
            "nearest_point_small": [
              2.3955,
              3.0626,
              0.3427
            ],
            "nearest_point_nearby": [
              2.998,
              3.025,
              0.5387
            ],
            "direction_unit_vector": [
              0.94,
              0.0847,
              0.3304
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -26.64,
            "horizontal_distance_cm": 76.09
          }
        },
        {
          "object_id": 15,
          "label": "table lamp",
          "centroid": [
            2.9188,
            3.2281,
            0.833
          ],
          "centroid_distance_m": 0.8686,
          "spatial_3d": {
            "edge_distance_cm": 48.75,
            "center_distance_cm": 86.86,
            "nearest_point_small": [
              2.3684,
              3.1821,
              0.3648
            ],
            "nearest_point_nearby": [
              2.8336,
              3.2141,
              0.5071
            ],
            "direction_unit_vector": [
              0.7126,
              0.2516,
              0.6549
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -56.89,
            "horizontal_distance_cm": 65.64
          }
        }
      ]
    },
    {
      "object_id": 38,
      "label": "handbag",
      "centroid": [
        6.591,
        1.7702,
        0.9987
      ],
      "nearby_objects": [
        {
          "object_id": 37,
          "label": "door",
          "centroid": [
            6.6412,
            1.8017,
            1.0002
          ],
          "centroid_distance_m": 0.0593,
          "spatial_3d": {
            "edge_distance_cm": 0.16,
            "center_distance_cm": 5.93,
            "nearest_point_small": [
              6.6824,
              1.6094,
              0.6609
            ],
            "nearest_point_nearby": [
              6.6836,
              1.6082,
              0.661
            ],
            "direction_unit_vector": [
              0.8466,
              0.5317,
              0.0251
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": -0.15,
            "horizontal_distance_cm": 5.93
          }
        },
        {
          "object_id": 43,
          "label": "umbrella",
          "centroid": [
            6.5759,
            1.8611,
            1.1868
          ],
          "centroid_distance_m": 0.2095,
          "spatial_3d": {
            "edge_distance_cm": 0.1,
            "center_distance_cm": 20.95,
            "nearest_point_small": [
              6.6162,
              1.8376,
              1.148
            ],
            "nearest_point_nearby": [
              6.6159,
              1.8367,
              1.1482
            ],
            "direction_unit_vector": [
              -0.0718,
              0.4343,
              0.8979
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -18.81,
            "horizontal_distance_cm": 9.22
          }
        },
        {
          "object_id": 36,
          "label": "door frame",
          "centroid": [
            6.6949,
            1.6513,
            1.2131
          ],
          "centroid_distance_m": 0.2663,
          "spatial_3d": {
            "edge_distance_cm": 18.99,
            "center_distance_cm": 26.63,
            "nearest_point_small": [
              6.5927,
              1.9976,
              0.7292
            ],
            "nearest_point_nearby": [
              6.5701,
              2.1861,
              0.7267
            ],
            "direction_unit_vector": [
              0.3903,
              -0.4465,
              0.8051
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -21.44,
            "horizontal_distance_cm": 15.79
          }
        },
        {
          "object_id": 69,
          "label": "light switch",
          "centroid": [
            6.4716,
            2.2311,
            1.0674
          ],
          "centroid_distance_m": 0.481,
          "spatial_3d": {
            "edge_distance_cm": 33.49,
            "center_distance_cm": 48.1,
            "nearest_point_small": [
              6.6058,
              1.938,
              0.9321
            ],
            "nearest_point_nearby": [
              6.4867,
              2.2324,
              1.0387
            ],
            "direction_unit_vector": [
              -0.2481,
              0.9581,
              0.1429
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -6.88,
            "horizontal_distance_cm": 47.61
          }
        }
      ]
    },
    {
      "object_id": 29,
      "label": "bottle",
      "centroid": [
        2.2568,
        3.1809,
        1.5199
      ],
      "nearby_objects": [
        {
          "object_id": 30,
          "label": "picture",
          "centroid": [
            1.7788,
            3.0972,
            1.4953
          ],
          "centroid_distance_m": 0.4858,
          "spatial_3d": {
            "edge_distance_cm": 35.72,
            "center_distance_cm": 48.58,
            "nearest_point_small": [
              2.2146,
              3.1745,
              1.5
            ],
            "nearest_point_nearby": [
              1.863,
              3.117,
              1.4746
            ],
            "direction_unit_vector": [
              -0.9838,
              -0.1722,
              -0.0507
            ],
            "vertical_relation": "same_level",
            "vertical_offset_cm": 2.46,
            "horizontal_distance_cm": 48.52
          }
        },
        {
          "object_id": 10,
          "label": "books",
          "centroid": [
            1.7341,
            2.9567,
            1.858
          ],
          "centroid_distance_m": 0.6616,
          "spatial_3d": {
            "edge_distance_cm": 49.16,
            "center_distance_cm": 66.16,
            "nearest_point_small": [
              2.2345,
              3.1777,
              1.6122
            ],
            "nearest_point_nearby": [
              1.8439,
              2.9752,
              1.8315
            ],
            "direction_unit_vector": [
              -0.79,
              -0.3388,
              0.511
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -33.81,
            "horizontal_distance_cm": 56.87
          }
        },
        {
          "object_id": 12,
          "label": "shelf",
          "centroid": [
            1.6161,
            2.9109,
            1.4072
          ],
          "centroid_distance_m": 0.7043,
          "spatial_3d": {
            "edge_distance_cm": 0.56,
            "center_distance_cm": 70.43,
            "nearest_point_small": [
              2.2754,
              3.2218,
              1.4223
            ],
            "nearest_point_nearby": [
              2.2755,
              3.2265,
              1.4192
            ],
            "direction_unit_vector": [
              -0.9096,
              -0.3834,
              -0.16
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 11.27,
            "horizontal_distance_cm": 69.52
          }
        },
        {
          "object_id": 7,
          "label": "picture",
          "centroid": [
            2.124,
            3.1625,
            2.2655
          ],
          "centroid_distance_m": 0.7576,
          "spatial_3d": {
            "edge_distance_cm": 49.86,
            "center_distance_cm": 75.76,
            "nearest_point_small": [
              2.2572,
              3.1951,
              1.6243
            ],
            "nearest_point_nearby": [
              2.3267,
              3.1799,
              2.1178
            ],
            "direction_unit_vector": [
              -0.1753,
              -0.0242,
              0.9842
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -74.56,
            "horizontal_distance_cm": 13.41
          }
        },
        {
          "object_id": 23,
          "label": "bowl",
          "centroid": [
            1.5408,
            2.8492,
            1.4609
          ],
          "centroid_distance_m": 0.7912,
          "spatial_3d": {
            "edge_distance_cm": 63.07,
            "center_distance_cm": 79.12,
            "nearest_point_small": [
              2.2146,
              3.1745,
              1.5
            ],
            "nearest_point_nearby": [
              1.6252,
              2.9503,
              1.489
            ],
            "direction_unit_vector": [
              -0.9048,
              -0.4192,
              -0.0745
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 5.9,
            "horizontal_distance_cm": 78.9
          }
        },
        {
          "object_id": 1,
          "label": "shelf",
          "centroid": [
            1.4876,
            2.9432,
            1.7974
          ],
          "centroid_distance_m": 0.8515,
          "spatial_3d": {
            "edge_distance_cm": 17.17,
            "center_distance_cm": 85.15,
            "nearest_point_small": [
              2.2463,
              3.2184,
              1.6267
            ],
            "nearest_point_nearby": [
              2.2402,
              3.2178,
              1.7983
            ],
            "direction_unit_vector": [
              -0.9033,
              -0.2791,
              0.3258
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -27.74,
            "horizontal_distance_cm": 80.5
          }
        },
        {
          "object_id": 15,
          "label": "table lamp",
          "centroid": [
            2.9188,
            3.2281,
            0.833
          ],
          "centroid_distance_m": 0.9552,
          "spatial_3d": {
            "edge_distance_cm": 76.11,
            "center_distance_cm": 95.52,
            "nearest_point_small": [
              2.289,
              3.1787,
              1.4199
            ],
            "nearest_point_nearby": [
              2.8954,
              3.2451,
              0.9648
            ],
            "direction_unit_vector": [
              0.6931,
              0.0495,
              -0.7192
            ],
            "vertical_relation": "above",
            "vertical_offset_cm": 68.7,
            "horizontal_distance_cm": 66.37
          }
        },
        {
          "object_id": 9,
          "label": "shelf",
          "centroid": [
            1.4922,
            2.9433,
            2.0937
          ],
          "centroid_distance_m": 0.985,
          "spatial_3d": {
            "edge_distance_cm": 44.43,
            "center_distance_cm": 98.5,
            "nearest_point_small": [
              2.2463,
              3.2184,
              1.6267
            ],
            "nearest_point_nearby": [
              2.3033,
              3.2158,
              2.0674
            ],
            "direction_unit_vector": [
              -0.7762,
              -0.2412,
              0.5825
            ],
            "vertical_relation": "below",
            "vertical_offset_cm": -57.37,
            "horizontal_distance_cm": 80.07
          }
        }
      ]
    }
  ]
}